The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XXXVIII-3/W22
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-3/W22, 85–90, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-3-W22-85-2011
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-3/W22, 85–90, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-3-W22-85-2011
 
26 Apr 2013
26 Apr 2013

QUALITY ASSESSMENT OF LANDMARK BASED POSITIONING USING STEREO CAMERAS

S. Hofmann, M. J. Schulze, M. Sester, and C. Brenner S. Hofmann et al.
  • Institute of Cartography and Geoinformatics, Leibniz Universität Hannover, Appelstraße 9a, 30167 Hannover, Germany

Keywords: Stereo Camera, Accuracy, Simulation, Mobile Mapping, Geometry, Navigation, Reference Data, Quality

Abstract. Driving autonomously requires highly accurate positioning. Therefore, alternative positioning systems to GPS are required especially to increase the accuracy, and to have a complementary data source in areas where GPS is not available. As more and more on-board sensors are used for safety reasons, information gathered about their environment can be used for positioning based on relative measurements to landmarks along the road. This paper investigates the accuracy potential of positioning using a stereo camera system and landmark maps. Therefore, we simulated several stereo camera systems with variable opening angle and base length to compute the positioning accuracy in a test area. In the first step, localization was calculated based on single positions, in the second step we used a Kalman filter additionally. While positioning in the first case was not successful along the entire trajectory, the Kalman filter led to far better results.